#ifndef _UBT_STATE_UTIL_H_
#define _UBT_STATE_UTIL_H_
#include "ubt_state_types.h"
#include "spdlog/spdlog.h"
#include "spdlog/sinks/daily_file_sink.h"
namespace ubt_state
{
extern geometry_msgs::msg::Pose2D PoseZero;
extern std::shared_ptr<spdlog::logger> ulogger;

int UbtStateUtilInit();
void UbtStateUtilCleanup();
int UbtStateUtilSetObstacleParams(ObstacleParams obsParams);
void UbtStateUtilGetObstacleParam(ObstacleParams& obsParams);

std::string UbtStateGetTaskResultDesc(int result);
void initialSpdloger();


}
#endif


